// --------------------------------------------------------------------------------------------------------------------
// <copyright file="RobotiqSModelDisplayModel.cs" company="Microsoft Corporation">
// The MIT License (MIT)
// 
// Copyright (c) 2014, Microsoft Corporation
// 
// Permission is hereby granted, free of charge, to any person obtaining a copy
//  of this software and associated documentation files (the "Software"), to deal
//  in the Software without restriction, including without limitation the rights
//  to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
//  copies of the Software, and to permit persons to whom the Software is
//  furnished to do so, subject to the following conditions:
// 
// The above copyright notice and this permission notice shall be included in
//  all copies or substantial portions of the Software.
// 
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
//  IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
//  FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
//  AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
//  LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
//  OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
//  THE SOFTWARE.
// </copyright>
// --------------------------------------------------------------------------------------------------------------------
namespace Microsoft.Robotics.Hardware.Visualization.Robotiq
{
    using System.Windows.Controls;
    using Microsoft.Robotics.Hardware.Robotiq;
    using Microsoft.Robotics.Visualization;

    /// <summary>
    /// Model for simple manipulation display
    /// </summary>
    public class RobotiqSModelDisplayModel : Model
    {
        /// <summary>
        /// Initializes a new instance of the <see cref="RobotiqSModelDisplayModel" /> class.
        /// </summary>
        public RobotiqSModelDisplayModel()
        {
            this.DoActivate = false;
            this.DoDeactivate = false;
            this.SetCommand = false;
        }

        /// <summary>
        /// Gets or sets the activation status string
        /// </summary>
        public string ActivationStatus { get; set; }

        /// <summary>
        /// Gets or sets the grip mode string
        /// </summary>
        public string GripMode { get; set; }

        /// <summary>
        /// Gets or sets the gripper status string
        /// </summary>
        public string GripperStatus { get; set; }

        /// <summary>
        /// Gets or sets the grip status string
        /// </summary>
        public string GripStatus { get; set; }

        /// <summary>
        /// Gets or sets the go to position bit string
        /// </summary>
        public string GoToPosition { get; set; }

        /// <summary>
        /// Gets or sets the commanded finger position string
        /// </summary>
        public string CommandedPosition { get; set; }

        /// <summary>
        /// Gets or sets the finger A position string
        /// </summary>
        public string FingerAPositionString { get; set; }

        /// <summary>
        /// Gets or sets the finger B position string
        /// </summary>
        public string FingerBPositionString { get; set; }

        /// <summary>
        /// Gets or sets the finger C position string
        /// </summary>
        public string FingerCPositionString { get; set; }

        /// <summary>
        /// Gets or sets the scissor axis position string
        /// </summary>
        public string ScissorAxisPositionString { get; set; }

        /// <summary>
        /// Gets or sets the finger A current string
        /// </summary>
        public string FingerACurrentString { get; set; }

        /// <summary>
        /// Gets or sets the finger B current string
        /// </summary>
        public string FingerBCurrentString { get; set; }

        /// <summary>
        /// Gets or sets the finger C current string
        /// </summary>
        public string FingerCCurrentString { get; set; }

        /// <summary>
        /// Gets or sets the scissor axis current string
        /// </summary>
        public string ScissorAxisCurrentString { get; set; }

        /// <summary>
        /// Gets or sets the finger A status string
        /// </summary>
        public string FingerAStatusString { get; set; }

        /// <summary>
        /// Gets or sets the finger B status string
        /// </summary>
        public string FingerBStatusString { get; set; }

        /// <summary>
        /// Gets or sets the finger C status string
        /// </summary>
        public string FingerCStatusString { get; set; }

        /// <summary>
        /// Gets or sets the scissor axis status string
        /// </summary>
        public string ScissorAxisStatusString { get; set; }

        /// <summary>
        /// Gets or sets a value indicating whether to send activation message to gripper
        /// </summary>
        public bool DoActivate { get; set; }

        /// <summary>
        /// Gets or sets a value indicating whether to send activation message to gripper
        /// </summary>
        public bool DoDeactivate { get; set; }

        /// <summary>
        /// Gets or sets a value indicating whether a command should be set
        /// </summary>
        public bool SetCommand { get; set; }

        /// <summary>
        /// Gets or sets a value indicating whether go to position should be enabled
        /// </summary>
        public bool GoToPositionCommand { get; set; }

        /// <summary>
        /// Gets or sets a value indicating whether to change to Basic grip mode
        /// </summary>
        public bool SetBasicMode { get; set; }

        /// <summary>
        /// Gets or sets a value indicating whether to change to Wide grip mode
        /// </summary>
        public bool SetWideMode { get; set; }

        /// <summary>
        /// Gets or sets a value indicating whether to change to Pinch grip mode
        /// </summary>
        public bool SetPinchMode { get; set; }

        /// <summary>
        /// Gets or sets a value indicating whether to change to Scissor grip mode
        /// </summary>
        public bool SetScissorMode { get; set; }

        /// <summary>
        /// Gets or sets commanded position
        /// </summary>
        public byte PositionCommand { get; set; }

        /// <summary>
        /// Gets or sets commanded speed
        /// </summary>
        public byte SpeedCommand { get; set; }

        /// <summary>
        /// Gets or sets commanded force
        /// </summary>
        public byte ForceCommand { get; set; }
    }
}
